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D455 Raw depth data flickering

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Jashmehta

Hello. 
I'm trying to use the D455 and the raw depth data seems to be flickering a lot. I do not really see this issue on the realsense-viewer. I tried setting the camera in auto exposure mode but that doesnt really seem to do anything. I have recorded a bag file which i'm attaching. 
Bag file: https://www.dropbox.com/scl/fi/wrc10xayv2u7kobxgvbd8/recorded_data.bag?rlkey=qj7wplcpqvzzg898yz5gpa3z1&st=tx37jr3v&dl=0

Code for bag playback: https://www.dropbox.com/scl/fi/i8slwyq718yprqpgn047p/playback.cpp?rlkey=l5vubu3rmrskrbq7w79zhtzol&st=i370crey&dl=0
Cpp code: https://www.dropbox.com/scl/fi/doqh31qujfcct96jrqtwj/display_depth.cpp?rlkey=hsfn1f0zkpdf2w4sj8yyd805b&st=4b8c840c&dl=0

I also tired setting the powerline frequency but for some reason my D455 isnt supported.. which is strange. 


I'd appreciate some help here. 

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3 comments

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  • MartyG

    Hi Jashmehta  The RealSense Viewer tool applies a range of post-processing filters to depth data by default and these can improve the quality and stability of the data.  The effects of these filters are not saved to a bag file though, only the raw data.  So you would need to program the filters into your C++ script and apply them to the data.

     

    The RealSense SDK has a C++ post-processing example program called rs-post-processing that you could refer to.

    https://github.com/IntelRealSense/librealsense/tree/master/examples/post-processing

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  • Jashmehta

    Even with the post-processing toggle off, i see much better quality on the realsense-viewer. 
    Do you know what the main cause of this flickering is? It happens even when i shut off the lights. Could this be because the cameras are old? 

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  • MartyG
    • Edited

    If camera age was a factor then it is likely that the RealSense Viewer image would be negatively affected too.

     

    Does the depth data in the bag file still flicker if you play the file back in the Viewer by drag and dropping it into the center panel of the Viewer?

     

    I played your bag file back in the 2.55.1 version of the Viewer.  There was some minor fluctuation but nothing more than what is typical for a Viewer depth stream.  You can observe this fluctuation in the Viewer terms of depth values by moving the mouse cursor over the depth image and observing the depth value of that coordinate displayed in the bottom corner as a numeric value in meters. 

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